Singularity Analysis of Redundant Space Robot with the Structure of Canadarm2

Table 1

The relevant parameters of the space robotic system.

	Base	Link 1	Link 2	Link 3	Link 4	Link 5	Link 6	Link 7
Mass/kg	𝑚0	𝑚1	𝑚2	𝑚3	𝑚4	𝑚5	𝑚6	𝑚7
𝑎𝑖/m		𝑎/2	𝑐/2	𝑑/2	𝑒/2	𝑓/2	ℎ/2	𝑘/2
𝑏𝑖/m	𝑙	𝑎/2	𝑐/2	𝑑/2	𝑒/2	𝑓/2	ℎ/2	𝑘/2